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{
  "header": {
    "name": "Guru Subramani PhD",
    "title": "Enabling robots to touch and feel the world.",
    "email": "[email protected]",
    "linkedin": "https://www.linkedin.com/in/gurusubramani/",
    "github": "https://github.com/gsubramani",
    "bio": "My work focuses on imitation learning for physical AI."
  },
  "sections": [
    {
      "title": "Research Interests",
      "type": "list",
      "description": "Forces and moments in human demonstrations reveal tactile manipulations and constraint interactions. Converting these observations into semantic understanding enables robots to robustly interact with their environment.",
      "items": [
        { "label": "Imitation Learning", "description": "Learning policies from human demonstrations and teleoperation.", "url": "areas/imitation-learning/" },
        { "label": "Modeling Physical Interaction", "description": "Modeling contact-rich interactions and their semantics.", "url": "areas/modeling-physical-interaction/" },
        { "label": "Machine Learning Features for Physical AI", "description": "Feature representations for tactile and proprioceptive sensing.", "url": "areas/physical-ai/" },
        { "label": "Robot Control Systems for Imitation Learning", "description": "Designing controllers that connect perception to actuation.", "url": "areas/control-systems/" }
      ]
    },
    {
      "title": "Select Projects",
      "type": "projects",
      "items": [
        {
          "title": "Recognizing Actions during Tactile Manipulations through Force Sensing",
          "description": "A method for identifying and temporally localizing tactile force actions using the Continuous Wavelet Transform with Complex Morlet wavelets. Demonstrated successful recognition of various manipulation actions from force signals.",
          "url": "projects/iros-2017-wavelets/"
        },
        {
          "title": "Constraint Inference from Human Demonstrations",
          "description": "A method for inferring geometric constraints such as hinges, drawers, and planar contact directly from human demonstrations using pose, force, and moment measurements. The system identifies both the constraint type and its geometric parameters without assuming contact geometry in advance.",
          "url": "projects/corl-2018-constraints/"
        }
      ]
    },
    {
      "title": "Blurbs about interesting robotics topics",
      "type": "list",
      "description": "",
      "items": [
        { "label": "Reinforcement Learning for Robotics", "description": "The exploration exploitation trade-off is what keeps reinforcement learning from solving robotics. Simulations help but the fidelity gap and compute constraints remain a challenge.", "url": "interests/sim2real-transfer/" },
        { "label": "Deep Imitation Learning", "description": "Robot imitation from video.", "url": "interests/deep-imitation-learning/" },
        { "label": "Select Reading List", "description": "books and articles", "url": "interests/recent-reading-list/" }
      ]
    },
    {
      "title": "Communities",
      "type": "list",
      "description": "",
      "items": [
        { "label": "REACH Lab", "description": "", "url": "https://reach.wisc.edu/", "logo": "labs-and-communities/reach_logo3.png" },
        { "label": "Robotics and Machine Intelligence", "description": "", "url": "https://rmi.nitt.edu/", "logo": "labs-and-communities/logoFull.84ed77f0d50e0f23ed7e.png" },
        { "label": "University of Wisconsin - Madison", "description": "", "url": "https://www.wisc.edu/", "logo": "labs-and-communities/uw-logo-horizontal-color-web-digital.png" },
        { "label": "National Institute of Technology Tiruchirappalli", "description": "", "url": "https://www.nitt.edu/"},
        { "label": "UW Graphics Group", "description": "", "url": "https://graphics.cs.wisc.edu/" }
      ]
    },
    {
      "title": "Publications",
      "type": "publications",
      "scholarUrl": "https://scholar.google.com/citations?user=7wDvHs4AAAAJ&hl=en",
      "items": [
        {
          "title": "A method for constraint inference using pose and wrench measurements",
          "authors": "Guru Subramani, M. Hagenow, M. Gleicher, M. Zinn",
          "venue": "arXiv",
          "year": 2020,
          "url": "https://arxiv.org/abs/2010.15916"
        },
        {
          "title": "Characterizing input methods for human-to-robot demonstrations",
          "authors": "Pragathi Praveena, Guru Subramani, Bilge Mutlu, Michael Gleicher",
          "venue": "ACM/IEEE HRI",
          "year": 2019,
          "url": "https://arxiv.org/abs/1902.00084"
        },
        {
          "title": "Inferring Geometric Constraints in Human Demonstrations for Robot Programming",
          "authors": "Guru Subramani",
          "venue": "PhD Dissertation",
          "year": 2019,
          "url": "https://graphics.cs.wisc.edu/Papers/2019/Sub19/GuruSubramaniDissertation.pdf"
        },
        {
          "title": "Inferring geometric constraints in human demonstrations",
          "authors": "Guru Subramani, M. Zinn, M. Gleicher",
          "venue": "CoRL",
          "year": 2018,
          "url": "https://proceedings.mlr.press/v87/subramani18a.html"
        },
        {
          "title": "Recognizing geometric constraints in human demonstrations using force and position signals",
          "authors": "Guru Subramani, M. Gleicher, M. Zinn",
          "venue": "IEEE RA-L",
          "year": 2018,
          "url": "https://ieeexplore.ieee.org/document/8259468"
        },
        {
          "title": "Recognizing actions during tactile manipulations through force sensing",
          "authors": "Guru Subramani, D. Rakita, H. Wang, J. Black, M. Zinn, M. Gleicher",
          "venue": "IEEE/RSJ IROS",
          "year": 2017,
          "url": "https://ieeexplore.ieee.org/document/8202271"
        },
        {
          "title": "Development of a Robotic Motor Skills Assessment System for Children With Autism",
          "authors": "Guru Subramani, A. Fisher, M. Bittmann, A. Mason, B. Travers, M. Zinn",
          "venue": "Frontiers in Biomedical Devices",
          "year": 2017,
          "url": "https://asmedigitalcollection.asme.org/biomedical/proceedings/BIOMED2017/57533/V001T05A009/236162"
        },
        {
          "title": "Tackling friction—an analytical modeling approach to understanding friction in single tendon driven continuum manipulators",
          "authors": "Guru Subramani, M. Zinn",
          "venue": "IEEE ICRA",
          "year": 2015,
          "url": "https://ieeexplore.ieee.org/document/7139242"
        }
      ]
    }
  ]
}